Cartesian Impedance Control of Redundant and Flexible-Joint Robots

By Christian Ott. Springer Tracts in Advanced Robotics, 2008

418 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/ed39e619271cf9bbd172c1f86361b7c92e066614

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Biomedical Engineering

1. Roberto Mart'in-Mart'in
2. Silvio Savarese
3. Jeannette Bohg
4. Bruno Siciliano
5. Animesh Garg
6. Michelle A. Lee
7. Rachel Gardner

In Control and Systems Engineering

1. Roberto Mart'in-Mart'in
2. Silvio Savarese
3. Animesh Garg
4. Fanny Ficuciello
5. Jeannette Bohg
6. Bruno Siciliano
7. Michelle A. Lee
8. Rachel Gardner

Citations in the corpus

• Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks (2019, methodology): “We conduct experiments in three application domains: a) free space Path Following [4], b) manipulation of articulated mechanisms [18] and c) surface wiping [24, 32].”
• Variable Impedance Control of Redundant Manipulators for Intuitive Human–Robot Physical Interaction (2015, background): “On the other hand, if the natural inertia is preserved, a configuration-dependent damping matrix should be adopted to guarantee stability (see, e.g., [28]) leading to a nonlinear, coupled, and configuration-dependent dynamics, which would make more difficult for the user to lead the end effector.”